Supervisory safety system for controlling and limiting unmanned aerial system (UAS) operations

ABSTRACT

Systems, devices, and methods for determining, by a processor, an unmanned aerial system (UAS) position relative to at least one flight boundary; and effecting, by the processor, at least one flight limitation of a UAS if the determined UAS position crosses the at least one flight boundary.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to and the benefit of U.S. ProvisionalPatent Application No. 62/094,798, filed Dec. 19, 2014, the contents ofwhich are hereby incorporated by reference herein for all purposes.

TECHNICAL FIELD

Embodiments relate generally to systems, methods, and devices forunmanned aerial systems (UAS), and more particularly to limiting accessof UAS.

BACKGROUND

To allow operations of unmanned aerial systems (UAS) in the nationalairspace, highly reliable means and methods are necessary to assure thatUAS do not enter airspace from which it is restricted/prohibited,collide with and/or otherwise interfere with the operations of mannedaircraft. However, in meeting this need the cost and complexity of UASmust be kept reasonable in order to facilitate their commercialviability.

A common limitation given in a Certificate of Waiver or Authorization(COA) requires a UAS to specifically avoid airports by a distance of atleast five nautical miles. This area around the airport is intended toact as a buffer to keep the UAS away from any manned aircraft that maybe flying in the airport traffic pattern. Since there is no actualphysical barrier, a wayward, whether accidental or intentional, UAS canstill cross this buffer and relatively quickly be in close proximitywith manned aircraft. As a result, such a buffer may mitigate thelikelihood of a midair collision, but ultimately cannot act to preventit. More specifically, nothing physically prevents the UAS from beinginvolved in a potentially fatal midair collision with a manned aircraftin the airport traffic pattern. Since the worst credible result of themidair collision hazard is a fatality, this hazard would be assigned a“catastrophic” criticality.

SUMMARY

Exemplary method embodiments may include: determining, by a processor,an unmanned aerial system (UAS) position relative to at least one flightboundary; and effecting, by the processor, at least one flightlimitation of the UAS if the determined UAS position crosses the atleast one flight boundary. In additional exemplary method embodiments,the at least one flight boundary may include a prohibited flight area.In additional exemplary method embodiments, the at least one flightlimitation may have a sufficiently high system integrity, e.g., of atleast 1*10⁻⁷, of preventing the UAS from crossing the prohibited flightarea. In additional exemplary method embodiments, the received at leastone flight boundary may further include a user defined flight boundary,where the user defined flight boundary is smaller than the prohibitedflight area. In additional exemplary method embodiments, the at leastone flight boundary may further include at least one boundary based onan input from a sense and avoid system of the UAS. In additionalexemplary method embodiments, the sense and avoid system may include atleast one of: a radar, a sonar, an optical sensor, and a LIDAR.

In additional exemplary method embodiments, the at least one flightboundary is updated by a user from a third-party database prior to aflight. In additional exemplary method embodiments, the at least oneflight boundary may be updated during flight by at least one of: a senseand avoid system and a third-party database. In additional exemplarymethod embodiments, the UAS position may be determined via a globalpositioning system (GPS), an inertial measurement unit (IMU), and analtimeter. Additional exemplary method embodiments may includeeffecting, by the processor, at least one flight limitation of the UASif the UAS encounters an error and the determined UAS position is in atrajectory that will cross the at least one flight boundary within a settime. In additional exemplary method embodiments, the error may be atleast one of: a battery failure, a propulsion device failure, a senseand avoid system failure, and a global positioning system (GPS) failure.

In additional exemplary method embodiments, a first flight limitation ofthe at least one flight limitation may include: sending, by theprocessor, a warning to a user when a first boundary of the at least oneflight boundary is crossed by the UAS. In additional exemplary methodembodiments, a second flight limitation of the at least one flightlimitation may include grounding the UAS. In additional exemplary methodembodiments, the at least one flight limitation of the UAS may includeat least one of: activating a parachute; cutting a power source to oneor more propulsion devices of the UAS; separating one or more componentsof the UAS; an explosive charge; and reversing power to one or morepropulsion devices of the UAS. In additional exemplary methodembodiments, the at least one flight limitation of the UAS may includeat least one of: actuating an actuator to a maximum deflection; andactuating an actuator to effect a turn of the UAS away from the receivedone or more flight boundaries.

Exemplary system embodiments may include a flight limiting controller(FLC) including: a processor having addressable memory, the processorconfigured to: determine an unmanned aerial system (UAS) positionrelative to at least one flight boundary; and effect at least one flightlimitation of the UAS if the determined UAS position crosses the atleast one flight boundary. In additional exemplary system embodiments,the system may also include a UAS including: a UAS power source; a UAScontroller; a UAS navigation device; a UAS radio; and at least onepropulsion device. In additional exemplary system embodiments, the UASnavigation device may further include a global positioning system (GPS),an inertial measurement unit (IMU), and an altimeter. In additionalexemplary system embodiments, the UAS radio may further include atransceiver.

In additional exemplary system embodiments, the UAS may further include:at least one control surface; and at least one actuator attached to theat least one control surface. In additional exemplary systemembodiments, the at least one flight limitation of the UAS may be anactuation of the at least one actuator to a maximum deflection. Inadditional exemplary system embodiments, the processor of the flightlimiting controller may be configured to receive an input from at leastone of: the UAS power source, the UAS controller, the UAS navigationdevice, the UAS radio, and the at least one propulsion device. Inadditional exemplary system embodiments, the system may further includea UAS operator controller including: a UAS operator controller processorhaving addressable memory, the UAS controller processor configured to:receive a status of the UAS, where the status includes data on at leastone of: the UAS power source, the UAS controller, the UAS navigationdevice, the UAS radio, and the at least one propulsion device; andreceive a warning if the determined UAS position crosses the at leastone flight boundary.

In additional exemplary system embodiments, the FLC may further include:a FLC power source; a FLC controller; a FLC navigation device; and a FLCradio. In additional exemplary system embodiments, the FLC may furtherinclude a FLC memory store, where the FLC memory store may record aflight data of a UAS, where the flight data may include an input from atleast one of: the FLC power source; the FLC controller; the FLCnavigation device; and the FLC radio. In additional exemplary systemembodiments, the at least one flight limitation of the UAS may includeat least one of: activate a parachute; cut a power source to one or morepropulsion devices of the UAS; separate one or more components of theUAS; an explosive charge; and reverse power to one or more propulsiondevices of the UAS. In additional exemplary system embodiments, the atleast one flight limitation of the UAS may include at least one of:actuate an actuator to a maximum deflection; and actuate an actuator toeffect a turn of the UAS away from the received one or more flightboundaries.

BRIEF DESCRIPTION OF THE DRAWINGS

The components in the figures are not necessarily to scale, emphasisinstead being placed upon illustrating the principals of the invention.Like reference numerals designate corresponding parts throughout thedifferent views. Embodiments are illustrated by way of example and notlimitation in the figures of the accompanying drawings, in which:

FIG. 1 depicts an exemplary embodiment of an unmanned aerial system(UAS) in a flight path traveling through waypoints to an area ofoperation, where the UAS stays out of a flight boundary and buffer zonefor an airport and a tower;

FIG. 2A depicts an exemplary UAS in a trajectory towards a airspace fromwhich it is prohibited surrounded by three flight boundaries;

FIG. 2B depicts the exemplary UAS of FIG. 2A crossing over a firstflight boundary of the three flight boundaries surrounding the airspacefrom which it is prohibited;

FIG. 2C depicts the exemplary UAS of FIG. 2A having flown past the firstflight boundary and crossing over a second flight boundary;

FIG. 2D depicts the exemplary UAS of FIG. 2A adjusting its flight pathin a 180 degree turn away from the airspace from which it is prohibitedand the second flight boundary;

FIG. 2E depicts the exemplary UAS of FIG. 2A having flown past the firstflight boundary and the second flight boundary and crossing over a thirdflight boundary;

FIG. 2F depicts the exemplary UAS of FIG. 2A having actuated an actuatorconnected to a rudder of the UAS to a maximum deflection in order tomaintain the UAS in a circular flight pattern that inhibits furtherforward movement and prevents the UAS from entering the airspace fromwhich it is prohibited;

FIG. 2G depicts the exemplary UAS of FIG. 2A having deployed a parachuteas a flight limitation upon crossing the third flight boundary in orderto bring down the UAS before entering the airspace from which it isprohibited;

FIG. 2H depicts the exemplary UAS of FIG. 2A having landed on the groundprior to entering the airspace from which it is prohibited in responseto the deployment of the parachute and/or other flight limitations;

FIG. 3 depicts an exemplary flight limiting controller (FLC) having aprocessor with addressable memory, which receives inputs, sends statusor warn signals, and effects one or more flight limitations;

FIG. 4 depicts a system architecture of a UAS having flight limitingaspects incorporated into a UAS controller for effecting flightlimitations of the UAS;

FIG. 5 depicts a system architecture of a UAS having a FLC added to theUAS and in communication with the UAS controller in order to effectflight limitations;

FIG. 6 depicts a system architecture of a UAS having a FLC with memoryadded and in communication with the UAS controller, UAS transceiver, andUAS GPS in order to effect flight limitations;

FIG. 7 depicts a system architecture of a UAS having a FLC with memoryand a GPS added and in communication with an actuator in order to effectflight limitations;

FIG. 8 depicts a system architecture of a UAS having a FLC with memoryand a GPS added and in communication with an actuator in order to effectflight limitations and in one-way communication with the UAS controllerfor passing data from the FLC to the UAS controller;

FIG. 9 depicts a system architecture of a quadcopter-style UAS having aFLC connected in between the UAS controller and each electronic speedcontroller as a wiring harness in order to effect flight limitations;

FIG. 10 depicts a system architecture of a quadcopter-style UAS having aFLC connected to a switch in between one of the electronic speedcontrollers and the UAS controller to cut power to one of the UASpropulsion devices as a flight limitation;

FIG. 11 depicts an independent flight limiting device (FLD) that may bedetachably attached to one or more UAS systems in order to effect flightlimitations and include a separate thrust generator and/or parachute;and

FIG. 12 depicts an exemplary functional block diagram of an embodimentfor effecting flight limitations if the UAS has crossed a flightboundary.

DETAILED DESCRIPTION

The present system allows for a highly reliable supervisory device foran unmanned aerial system (UAS). The system monitors and evaluates theUAS position in a three-dimensional space and compares that location toone or more flight boundaries. If, and when, the UAS crosses the borderof such a flight boundary, the system will automatically activate atleast one flight limitation. Flight limitations may include a warningsignal to a UAS operator, an autopilot command to leave the flightboundary, an actuator command to maintain the UAS in a circular flightpattern that prevents the UAS from entering a flight boundary, aparachute or other emergency recovery device deployment, a componentseparation such as a wing of the UAS, a propulsion device throttleadjustment, a cutting of power to one or more propulsion devices of theUAS, and a separate thrust generator. The system may be embodied as afully integrated device into existing UAS components, e.g., a UAScontroller, global positioning system (GPS), inertial measurement unit(IMU), altimeter, battery, memory, etc.; a fully separate device thatmay be detachably attached to various UAS; or some combination ofseparate and existing components. This system allows an off-the-shelfUAS with a relatively low operational reliability, e.g., an inexpensiveUAS, to be paired with a separate highly reliable flight terminationdevice, such that in combination a system is achieved that will preventthe UAS from entering airspace from which it is prohibited and/or flyingover areas on the ground that are dangerous, prohibited, and/or areotherwise forbidden from UAS overflight.

FIG. 1 depicts an exemplary embodiment of an unmanned aerial system(UAS) in a flight path near an area of controlled airspace that staysout of a flight boundary for an airport and a tower 100. A UAS 102 islaunched from a base location 104. The UAS 102 travels between waypoints(106, 108, 110) to reach an area of operation 112. The UAS 102 loitersabout the area of operation 112 collecting data and/or performingmission functions. The UAS 102 returns to the base location 104 viawaypoints (114, 116, 118). The waypoints (106, 108, 110, 114, 116, 118)and/or area of operation 112 may be defined by a UAS operator in orderto avoid entering a flight boundary, e.g., a geofence including acontrolled airspace and/or other obstacle. The flight boundary may be avirtual surface defined by horizontal dimensions and a vertical heightrelative to ground. The flight boundary may be a simple geometric shape,e.g., a cylinder or dome, or a complex multipoint surface. In someembodiments, the waypoints (106, 108, 110, 114, 116, 118) may bedetermined by a processor of the UAS based on the location of the areaof operation 112, any flight boundaries, and/or additional UAS sensorinputs, e.g., wind speed, UAS battery level, etc.

The controlled airspace may include an airport 120 having a prohibitedflight area 124 of a set distance, e.g., five nautical miles surroundingthe airport 120. This prohibited flight area 124 may be set by agovernmental agency based on rules and regulations, e.g., the FederalAviation Administration (FAA). UAS are not allowed to cross theprohibited flight area 124. A first flight boundary 126 may be createdas a buffer to ensure that the UAS 102 does not enter the prohibitedflight area 124 and an area generally north and south of the airportwhich corresponds to the flight routes of aircraft utilizing the airport120. Flight boundaries may vary based on various established rules,regulations, and/or prohibited flight areas. Flight boundaries may beestablished by a governmental authority and/or a third-party database.

Other obstacles to the UAS 102 may be present in a flight area, but notrestricted by a governmental authority and/or a third-party database. Atower 128 is located within the UAS 102 flight area, but not otherwiserestricted. The UAS operator aware of the tower 128 location may createa second user defined flight boundary 130 surrounding the tower 128 toensure that the UAS 102 does not impact and/or interfere with the tower128.

The UAS 102 may store the locations of the flight boundaries (124, 126,130) in memory. These flight boundaries (124, 126, 130) may bedownloaded from a governmental authority and/or third party database. AUAS operator may add additional flight boundaries to reduce the flightarea, but may not remove existing flight boundaries. In someembodiments, flight boundaries may be updated in real-time, e.g.,restricting an area for emergency or natural disaster needs such asfirefighting activities.

The UAS 102 may provide the UAS operator with status information on theUAS flight location, speed, and/or other data collected. The UAS 102 mayalso provide the UAS operator with a warning if a flight boundary iscrossed by the UAS 102. The UAS 102 may effect at least one flightlimitation upon crossing a flight boundary. These flight limitations mayrange from warning signals to a grounding of the UAS 102 (See FIGS.2A-2H).

FIG. 2A depicts an exemplary UAS approaching several flight boundariespositioned about a airspace from which it is prohibited. A UAS 200 istraveling in a trajectory 202 towards a prohibited flight area 204. Oneor more flight boundaries may be created to ensure that the UAS 200 doesnot cross into the prohibited flight area 204. The prohibited flightarea 204 may include an airport (See FIG. 1) or other location in whichUAS interference may be “catastrophic” as it could result in a midaircollision. Accordingly, the level of system integrity required of safetyfunctions providing mitigation for “catastrophic” criticality is 1*10⁻⁶for small general aviation aircraft and 1*10⁻⁹ for larger aircraft.While it is yet to be determined what the requirement for UAS will be,it is likely to be at least equal to that of the manned aircraft thatpopulate the airspace 124, i.e., between 1*10⁻⁶ and 1*10⁻⁹, orapproximately 1*10⁻⁷. This is a very high reliability requirement and islevied not just on the UAS as a whole, but on each part of the UASinvolved in mitigating the “catastrophic” hazard. Accordingly, thereliability of a system for preventing the UAS 200 from crossing into aprohibited flight area 204 must be at least 1*10⁻⁷.

The UAS 200 may be an unmanned aircraft having a propulsion device,e.g., a motor, and at least one control surface. In some embodiments,the UAS 200 may have one or more propulsion devices in order to controlthe altitude, velocity, and/or trajectory 202 of the aircraft. The UAS200 may be an unpowered aircraft such as a balloon, parachute, glider,and/or kite where the at least one flight limitation may ground theunpowered aircraft before it can enter a prohibited flight area 204. TheUAS 200 may be a lighter than air aircraft, such as an airship ordirigible. The one or more flight limitations prevent the UAS 200 fromentering the prohibited flight area 204 based on the type of propulsion,lift, and/or control of the UAS 200.

FIG. 2B depicts the exemplary UAS of FIG. 2A crossing over a firstflight boundary. The UAS 200 is on a trajectory 202 that has it crossinga first flight boundary 206 surrounding the prohibited flight area 204.The location of each flight boundary may be time-based, e.g., the firstflight boundary 206 may be sixty seconds from the prohibited flight area204 based on the speed and/or trajectory 202 of the UAS 200. Each flightboundary may also be based on a set buffer distance, e.g., the firstflight boundary 206 may be one mile from the prohibited flight area 204.In some embodiments, the location of one or more flight boundaries maybe set by a UAS operator. In other embodiments, the location of eachflight boundary may be based on a combination of time-based factors anddistance, e.g., varying within a set range and/or selected by a UASoperator within a set range.

The number of flight boundaries may be varied by a flight limitingcontroller (FLC) and/or a UAS controller as a dynamic system forensuring that the UAS 200 does not cross into the prohibited flight area204. Upon crossing the first flight boundary 206, the FLC and/or UAScontroller may send a signal to a UAS operator notifying the UASoperator that the UAS 200 has crossed the first flight boundary 206.This notification may provide the operator with the chance to alter thetrajectory 202 of the UAS 200 before any further actions, e.g.,grounding the UAS, are taken.

FIG. 2C depicts the exemplary UAS of FIG. 2A crossing over a secondflight boundary. The trajectory 202 of the UAS 200 continues towards theprohibited flight area 204 and crosses over a second flight boundary208. The FLC and/or UAS controller effect a second flight limitationupon the UAS 200 crossing the second flight boundary 208. The secondflight limitation may direct the UAS controller to land the UAS, reversea direction of the UAS (See FIG. 2D), and/or other maneuvers to preventthe UAS 200 from entering the prohibited flight area 204. The distancebetween the first flight boundary 206 and the second flight boundary 208may allow the UAS operator time to correct the trajectory 202 of the UAS200. This second flight limitation may also prevent the UAS operatorfrom taking further control of the UAS 200 until the UAS 200 is outsidethe second flight boundary 208 and/or landed on the ground (See FIG.2H).

FIG. 2D depicts the exemplary UAS of FIG. 2A adjusting its flight pathaway from the airspace from which it is prohibited and the second flightboundary. The trajectory 202 of the UAS 200 may enact a turn that takesthe UAS 200 away from the prohibited flight area 204. The FLC and/or UAScontroller may command an actuator, having a degree of system integrityof at least 1*10⁻⁷, to actuate such that the UAS flight course isadjusted by 180 degrees. In other embodiments, an autopilot may guide aUAS, such as a quadcopter-style UAS (See FIGS. 9-10), away from theprohibited flight area 204. The UAS 200 may communicate a confirmationof the flight path adjustment, or other flight limitation, to the UASoperator in a timely manner.

FIG. 2E depicts the exemplary UAS of FIG. 2A crossing over a thirdflight boundary. The trajectory 202 of the UAS 200 crosses over a thirdflight boundary 210. The FLC and/or UAS controller effect a third flightlimitation upon crossing the third flight boundary 210. The third flightlimitation grounds the UAS 200 and/or otherwise prevents the UAS 200,with a degree of system integrity of at least 1*10⁻⁷, from entering theprohibited flight area 204. If crossing the second flight boundary 208effected a second flight limitation to enact a turn that would take theUAS 200 away from the prohibited flight area 204 (See FIG. 2D), and thiswas ineffective, e.g., UAS controller error and/or failure, then moredrastic action must be taken in order to keep the UAS 200 from enteringthe prohibited flight area 204.

The UAS 200 may encounter an error while in a trajectory 202 that willcross at least one flight boundary (206, 208, 210) and/or prohibitedflight area 204 within a set time, e.g., within fifteen seconds. Theerror may be a battery failure, such as a battery running out of powerand/or being otherwise not reliable to a rating of 1*10⁻⁷. The error mayalso be a propulsion device failure of the UAS 200, such as an actuatormotor for control of a control surface of the UAS 200 beingnon-responsive to an operator and/or being otherwise not reliable to arating of 1*10⁻⁷. The error may be a sense and avoid system failure,such as a radar, a sonar, an optical sensor, and/or LIDAR system beingnon-responsive to an operator and/or being otherwise not reliable to arating of 1*10⁻⁷. The error may also be a GPS failure, such as a GPSlosing connection to a minimum required number of satellites and/orbeing otherwise not reliable to a rating of 1*10⁻⁷. The error may alsobe a connection failure between the UAS 200 and an operator. If such anerror occurs and the UAS 200 is in a trajectory 204 that will cross atleast one flight boundary (206, 208, 210) and/or prohibited flight area204 within a set time, then at least one flight limitation must beeffected. If a flight limitation is not effected, then the UAS 200 willcross the at least one flight boundary (206, 208, 210) and/or prohibitedflight area 204. The set time may be set by the system and/or anoperator to be sufficient to ensure that the UAS 200 will not cross intothe at least one flight boundary (206, 208, 210) and/or prohibitedflight area 204 with a reliability of 1*10⁻⁷. The set time may also bebased on and/or adjusted for a latency; data transmission time from theUAS 200 to a ground station; ground station processing time; humanresponse time; weather effects such as wind; electromagneticinterference internal and/or external to the UAS 200; interference fromacoustic, thermal, vibrational, chemical, and/or metallurgical means;and/or accuracy of UAS 200 components in order to ensure that the UAS200 does not cross the at least one flight boundary (206, 208, 210)and/or the prohibited flight area 204. The set time may also be based onan availability of any command and control datalink or othercommunication links required for any avoidance maneuvers and meetingstandards for ensuring that such avoidance maneuvers may be executedprior to the UAS 200 crossing the at least one flight boundary (206,208, 210) and/or the prohibited flight area 204.

FIG. 2F depicts the exemplary UAS of FIG. 2A having actuated an actuatorto a maximum deflection in order to maintain the UAS in a circularflight pattern that prevents the UAS from entering the airspace fromwhich it is prohibited. The FLC and/or UAS controller effect a hardturn, e.g., via a full rudder deflection from an actuator, as the thirdflight limitation whereby the trajectory 202 of the UAS 200 enters aspiral that prevents the UAS 200 from entering the prohibited flightarea 204. The spiral trajectory 202 may continue until the UAS 200 runsout of power and lands on the ground.

FIG. 2G depicts the exemplary UAS of FIG. 2A having deployed a parachuteto bring down the UAS before entering the airspace from which it isprohibited. The FLC and/or UAS controller may effect deployment of aparachute 212 as a third flight limitation in order to keep the UAS 200from entering the prohibited flight area 204. The parachute 212 createsenough drag to prevent further flight of the UAS 200 into the prohibitedflight area 204. The parachute 212 may be deployed along with a commandto turn off the UAS propulsion devices, e.g., motors, in order to bringdown the UAS. In some embodiments, the parachute 212 may be mounted onthe UAS in a position to create an asymmetrical force on the UAS thatrenders the UAS unable to fly (See FIG. 11)

FIG. 2H depicts the exemplary UAS of FIG. 2A having landed on the groundprior to entering the airspace from which it is prohibited. Thetrajectory 202 shows the UAS has landed 212 on the ground prior toentering the airspace from which it is prohibited after deploying aparachute (FIG. 2G) and/or entering a spiral (FIG. 2F). In otherembodiments, the FLC and/or UAS controller may cut power to one or moreUAS propulsion devices, reverse power to one or more propulsion devices,separate a wing or other component of the UAS such that continued flightis not sustainable, and/or activate an explosive charge. In someembodiments, the flight limitations may be dynamic and offer the UASoperator and/or UAS controller an opportunity to correct the UAStrajectory before taking more drastic action, e.g., deploying aparachute and/or grounding the UAS.

FIG. 3 depicts an exemplary flight limiting controller (FLC) having aprocessor with addressable memory 300. A FLC 302 may include a processor304 and memory 306. The FLC 302 may be an independent device from a UAScontroller 308 (See FIGS. 5-8), or integrated with the UAS controller308 (See FIG. 4). The degree of integration between the FLC 302, UAScontroller 308, inputs, and outputs may be varied based on thereliability of the system components. Having the FLC 302 separate fromthe UAS controller 308 provides the FLC 302 with ultimate supervisorycontrol over the flight of the UAS across the flight boundary orotherwise into the airspace from which it is prohibited. While amalfunction of a portion of the UAS, a malfunction of user programmingof the UAS flight course, and/or a UAS operator 322 error may cause theUAS to cross a flight boundary, the FLC 302 may override the UAScontroller 308 and effect a flight boundary limitation, e.g., terminatethe flight.

The FLC 302 may receive an input defining a flight boundary 310. Theflight boundary 310 may provide data defining a flight boundary of a UASand/or airspace from which it is prohibited. The flight boundary 310 maybe downloaded from an external source, e.g., a geofence from a thirdparty server, and stored in the FLC 302 memory 306. The flight boundary310 may be loaded prior to a UAS takeoff and/or dynamically updatedduring flight, e.g., due to changing conditions and/or updatedrestrictions. In some embodiments, the flight boundary 310 may bepreloaded in the memory 306.

The FLC 302 may also receive an input from a sense and avoid system 312.The sense and avoid system 312 may be a radar, a sonar, an opticalsensor, and/or LIDAR system. The sense and avoid system 312 may provideinformation on any objects that could collide and/or otherwise interferewith the operation of the UAS, e.g., towers (See FIG. 1), tall trees,and/or manned aircraft. The sense and avoid system 312 may also receiveinputs from other aircraft, e.g., a signal from an emergency vehiclenotifying aircraft to not enter an airspace due to firefightingactivities. The sense and avoid system 312 and flight boundary 310inputs may be used by the FLC 302 to avoid entering prohibited and/ordangerous airspace.

The FLC 302 may also receive input from a global positioning system(GPS) 314 and inertial measurement unit (IMU) 316 to determine the UASposition. An altimeter 318 input may be used by the FLC 302 to determinethe UAS attitude. The GPS 314, IMU 316, and altimeter 318 may beseparate and/or redundant devices that only provide input to the FLC302. In some embodiments, the GPS 314, IMU 316, and/or altimeter 318 maybe used by both the FLC 302 and the UAS controller 308. In someembodiments, the FLC 302 may pass through one or more inputs received(310, 312, 314, 316, 318) to the UAS controller 308 as a backup, if acorresponding device in the UAS fails, and/or for primary use due to ahigher system integrity of the device input being received by the FLC302. In some embodiments, the inputs received (310, 312, 314, 316, 318)may be stored in the FLC 302 memory 306 as a “black box” recording ofUAS flight data.

A battery 320 may be used to power the FLC 302. The position inputs(314, 316) and altitude input 318 may be used in combination with theflight boundary input 310 and sense and avoid system input 312 todetermine, by the processor 304 of the FLC 302, the UAS positionrelative to one or more flight boundaries, if those one or more flightboundaries have been crossed, and/or whether at least one flightlimitation of the UAS should be effected upon crossing those one or moreflight boundaries.

The flight limitations may be dynamic and offer a UAS operator 322and/or a UAS autopilot of the UAS controller 308 a chance to correct theUAS trajectory prior to additional flight limitations (See FIGS. 2A-2H).The FLC 302 may send a status signal 324, via a transceiver 326, to theUAS operator 322. The UAS operator 322 may use a UAS operator controllerhaving a UAS operator controller processor having addressable memory.The UAS controller processor may receive a status of the UAS, where thestatus may include data on at least one of: the UAS power source 320,the UAS controller 308, the UAS navigation device, the UAS radio, andthe at least one propulsion device. The UAS controller processor mayalso receive a warning if the determined UAS position crosses the atleast one flight boundary.

The status signal 324 may include data on any inputs (310, 312, 314,316, 318, 320) to the FLC. The status signal 324 may also notify the UASoperator 322 that the UAS has not crossed any flight boundaries. As aninitial flight limitation, the FLC may send a warn signal 328 to the UASoperator 322 if a first flight boundary has been crossed (See FIG. 2B).The UAS operator 322 may set the FLC 302 to provide one or more flightlimitations and the level of each flight limitation, e.g., set a firstflight boundary to send out a warn signal 328 or set a first flightboundary to engage an autopilot of the UAS controller 308. The UASoperator may also set the FLC 302 to determine at least one flightboundary based on a speed and trajectory of the UAS and/or a setdistance range of the UAS to a flight boundary. The flight limitationsof the FLC 302 may be varied, within set parameters, based on the useand/or needs of the UAS operator 322.

If additional flight boundaries are crossed, additional flightlimitations may be effected. An autopilot of the UAS controller 308 maydirect the UAS away from the flight boundary (See FIG. 2D). An actuator330 may be actuated to a maximum deflection in order to maintain the UASin a circular flight pattern that prevents the UAS from entering theflight boundary (See FIG. 2F). The actuator 330 may be part of the UASand/or a separate actuator with a system integrity meeting the desiredstandards. In some embodiments, a UAS rudder may be spring loaded, suchthat a loss of power to the actuator returns the rudder to a maximumdeflection which would maintain the UAS in a circular flight pattern(See FIG. 2F). A parachute 332 may be deployed which prevents the UASfrom crossing the flight boundary (See FIG. 2G). In a quadcopter-styleembodiment, the propulsion devices, e.g., motors, of the UAS may bepowered off prior to deploying the parachute 332. One or more componentsof the UAS may be separated 334, e.g., by shearing a pin connecting awing to the fuselage, such that the resulting UAS is incapable ofcontinuing its trajectory and crossing over the flight boundary. Thepropulsion device throttle 336 may be arrested so as to gradually landthe UAS, set to zero so as to bring down the UAS faster, and/or reversedso as to bring down the UAS fastest. The power may be cut 338 to the oneor more propulsion devices of the UAS. In a quadcopter-style UAS,cutting power to only one of the propulsion devices may be used toreliably bring down the UAS (See FIG. 10). A separate thrust generator340 may be used to bring down the UAS and/or alter its trajectory (SeeFIG. 11).

In order to achieve a set system integrity, e.g., a catastrophiccriticality of 1*10⁻⁷, each element in the system must meet thiscriteria including hardware and software. A development assuranceprocess has been defined in the RTCA Document DO-178C, titled: “SoftwareConsiderations in Airborne Systems and Equipment Certification.” TheDO-178C document provides guidance to determine if software will performreliably in an airborne environment. For software based mitigation tohazards with “catastrophic” criticality, the requirement is typicallyDevelopment Assurance Level (DAL) “A” (reduced to “B” for GeneralAviation). This is indeed a very high bar for any piece of avionicequipment, but especially for a technology, e.g., UAS, that is supposedto reduce costs and complexity of performing many varied tasks inaviation. Since UAS are software intensive vehicles, the addition ofsoftware driven systems for limiting UAS flight would necessarily driveall the software to DAL A or B requirements, resulting in software costincreases of orders of magnitude over what is currently done in theindustry. As such, a need exists for a highly reliable but low costdevice or system that will limit or otherwise control a UAS to prevent,or at least greatly reduce, the possibility of the UAS entering airspaceoccupied by manned aircraft and/or colliding with such aircraft.

FIG. 4 depicts a system architecture of a UAS having flight limitingaspects incorporated into the UAS controller 400. The systemarchitecture 400 includes a power source, e.g., a battery 402, connectedto a power bus 404. The power bus 404 supplies power to a UAS controller406; a radio, e.g., a transceiver 408; a navigation device, e.g., a GPS410; and a control device, e.g., an actuator 412. The UAS controller 406has memory 414.

The UAS controller 406 includes a microprocessor and functions tocontrol the flight of the UAS. The UAS controller 406 and all elementsmeet the required criticality standards. The UAS controller 406 maydetermine the UAS position and effect at least one flight limitation ifthe determined UAS position crosses at least one flight boundary. TheUAS controller 406 may receive direction commands from either thetransceiver 408 and/or memory 414. The UAS controller 406 may receive acurrent position, heading, speed, and/or altitude from the GPS 410and/or other inputs (See FIG. 3). The UAS controller 406 may determine aheading and instruct one or more control surfaces to move, e.g., theactuator 412 moving a rudder. The actuator 412 may be attached to any ofa variety of control surfaces including a rudder, an elevator, flaps,aileron, or the like, provided that deflection of such control surfaceis be sufficient to cause the flight to terminate upon command to do so.In other embodiments, the actuator 412 may be replaced and/orsupplemented with another flight limiting device, e.g., a parachute, UAScomponent separator, throttle control, power switch, and/or thrustgenerator.

FIG. 5 depicts a system architecture of a UAS having a FLC added to theUAS and in communication with the UAS controller to effect flightlimitations 500. A FLC 502 is added to an existing, e.g., off-the-shelf,UAS system architecture 500. The FLC 502 is in communication with a UAScontroller 504, such that the FLC 502 may receive UAS location data, UASstatus data, and/or flight boundary data from the UAS controller 504.The FLC can separately, and independently from the UAS controller 504,determine the UAS position, determine if the UAS has crossed at leastone flight boundary, and determine if a flight limitation, e.g., aflight termination, needs to be effected. The flight boundary data maybe retained in a memory 506, which may be accessed via the UAScontroller 504.

The FLC 502, controller 504, transceiver 508, GPS 510, and actuator 512may be powered by a power bus 514 from a battery 516. In someembodiments, the FLC 502 may have an independent and/or backup powersource. To effect a flight limitation, e.g., flight termination, the FLC502 transmits a signal over a communication connection 518 to the UAScontroller 504. The UAS controller 504 may then transmit an actuationsignal 520 to the actuator 512 to move a control surface, e.g., arudder, to a maximum deflection. In this embodiment, each of the FLC502, UAS controller 504, battery 516, power bus 514, memory 506, GPS510, and actuator 512 need to be sufficiently reliable to meet theoverall UAS reliability requirements.

FIG. 6 depicts a system architecture of a UAS having a FLC with memoryadded and in communication with the UAS controller, UAS transceiver, andUAS GPS to effect flight limitations 600. A FLC 602 with memory 604 isadded to a UAS system architecture, with direct links from the UAS tothe transceiver 606 and GPS 608. The FLC 602 is also in communicationwith the UAS controller 610 having a separate memory 612. The FLC 602may store flight limitations in memory 604. The FLC 602 may also sendstatus and/or warn signals to a UAS operator via the transceiver 606.The FLC 602 may send a flight limitation signal 614 to the UAScontroller 610. The UAS controller 610 then sends an actuation signal616 to an actuator 618. Power may be provided to the FLC 602, controller610, transceiver 606, GPS 608, and actuator 618 via a power bus 618 froma battery 620.

FIG. 7 depicts a system architecture of a UAS having a FLC with memoryand a GPS added and in communication with an actuator to effect flightlimitations 700. A FLC 702 having a separate memory 704 and one or moreseparate inputs, e.g., a GPS 716, may be added to a UAS systemarchitecture. The FLC 702 may directly send an actuation command to anactuator 708. The actuator 708 takes precedence of any control signalsfrom the FLC 702 over any control signals from the UAS controller 710.In some embodiments, the FLC 702 may control an independent actuator.The FLC 702 may be independent from a UAS controller 710 having memory712, and connected to a transceiver 714 and GPS 716. The UAS controller710 may be used by a UAS operator to control the UAS. If the FLC 702determines that the UAS has crossed a flight boundary, then the FLC 702may effect a flight limitation directly, without an input from the UAScontroller 710, memory 712, transceiver 714, and/or GPS 716.Accordingly, only the FLC 702, battery 718, power bus 720, memory 704,GPS 716, and actuator 708 elements of the system need to be sufficientlyreliable to meet the overall UAS reliability requirements. The UAScontroller 710, memory 712, transceiver 714, and GPS 716 may have alower cost and/or reliability, because they are not needed to preventthe UAS from entering airspace from which it is prohibited.

FIG. 8 depicts a system architecture of a UAS having a FLC with memoryand a GPS added and in communication with an actuator to effect flightlimitations and in one-way communication with the UAS controller 800.The system architecture of FIG. 8 is similar to the system architectureshown in FIG. 7, with the exception of a one-way signal 802 from the FLC804 to the UAS controller 806. In the event of a failure of the memory810, transceiver 812, and/or GPS 814, the FLC 804 may send a signal 802from its own memory 816 and/or GPS 818 to the controller 806. In someembodiments, the controls and/or inputs from an independent FLC 804 mayhave a higher system integrity and/or accuracy than similar and/oridentical control and/or inputs to the UAS controller 806. A UASoperator may set up the UAS such that the FLC 804 provides thesecontrols and/or inputs to the UAS controller 806 so as to increase thereliability and/or functioning of the UAS. As the FLC 804 is alreadyreceiving and/or determining data for its own determinations of UASlocation and flight boundaries, this data may be also be used by the UAScontroller 806, if desired.

FIG. 9 depicts a system architecture of a quadcopter-style UAS having aFLC connected in between the UAS controller and each electronic speedcontroller to effect flight limitations 900. A quadcopter-style UAS mayhave four propulsion devices, e.g., motors (902, 904, 906, 908) whichare each controlled by a corresponding electronic speed controller (910,912, 914, 916). In a typical quadcopter-style UAS, each electronic speedcontroller (910, 912, 914, 916) may have respective power connections(918, 920, 922, 924) and signal connections (926, 928, 930, 932). Theseconnections (918, 920, 922, 924, 926, 928, 930, 932) may be wired into aUAS controller 934 with a wiring harness.

A quadcopter-style UAS may allow for the quick removal and replacementof any individual motor and/or electronic speed controller, and sotypically utilize wiring harnesses for easy connections. Instead ofbeing directly connected into the UAS controller 934, these connections(918, 920, 922, 924, 926, 928, 930, 932) may be connected into a FLC936. The FLC 936 may then pass these connections through to the UAScontroller 934, and the UAS controller 934 may continue to function asif it were directly connected. The FLC 936 may determine the UASposition relative to any flight boundaries and effect at least oneflight limitation if a flight boundary is crossed. The flightlimitations of the FLC 936 may include reducing, cutting, and/orreversing the throttle of one of the motors (902, 904, 906, 908) toterminate the flight. As the FLC is positioned between the UAScontroller 934 and each of the motors (902, 904, 906, 908), only the FLC936 needs to be sufficiently reliable to meet the overall UASreliability requirements. Accordingly, the FLC 936 may be retrofit ontoan existing UAS, e.g., via a wiring harness designed to fit the existingUAS, that does not otherwise meet UAS reliability requirements. Theresulting UAS, with retrofit FLC 936, will meet the UAS reliabilityrequirements.

FIG. 10 depicts a system architecture of a quadcopter-style UAS having aFLC connected to a switch in between one of the electronic speedcontrollers and the UAS controller 1000. For a typical quadcopter-styleUAS, the reducing, cutting, and/or reversing of the throttle of only onepropulsion device, e.g., motor 1002 of the four motors (1002, 1004,1006, 1008), may reliably terminate the UAS flight. A FLC 1010 may beconnected to a switch 1012, e.g., a mechanical switch having a highreliability, positioned along a power connection 1014. The powerconnection 1014 may be moved from a UAS controller 1016 to the switch1012 and then passed through 1018 to the UAS controller 1016. In thisembodiment, the FLC 1010 complexity may be reduced and UAS flighttermination reliability may be increased. The FLC 1010 may determine theUAS position relative to any flight boundaries and effect at least oneflight limitation, e.g., activating the switch 1012 to cut power to themotor 1002, if a flight boundary is crossed. In some embodiments,multiple switches may be used and may be connected along control signalsand/or power signals.

FIG. 11 depicts an independent FLC that may be detachably attached toone or more UAS systems in order to effect flight limitations 1100. Aflight limiting device (FLD) 1102 may be detachably attached via one ormore detachable attachments (1104, 1106) to a UAS, e.g., to a UAS wing1108. The FLD 1102 is a self-contained device independent from the UASit is attached thereto. The only interface between the FLD 1102 and theUAS are the detachable attachments (1104, 1106). In some embodiments,the FLD 1102 may be attached to other areas of the UAS, e.g., the UASfuselage.

The FLD 1102 functions as in the other embodiments shown herein,determining the UAS position and effecting a flight limitation if theUAS position crosses a flight boundary. By being separate from theoperational components of the UAS, the UAS vehicle does not have to bemodified, except to the extent necessary to mount the FLD 1102 to theUAS. The components of the UAS do not have to meet the high reliabilityrequirements needed to operate near manned aircraft operations or nearsensitive areas on the ground. As long as the FLD 1102, and itscomponents, meet these reliability requirements, the UAS may operate inthese areas.

The FLD 1102 may have a minimum of components and/or software. The FLD1102 may be produced as a common design for use with any of a variety ofdifferent pre-existing UAS designs, which results in decreased costs andincreased reliability. Such a FLD 1102 may be used on more than a singleUAS. A UAS operator may have several different air vehicles fordifferent purposes, but since the UAS operator may only fly one at atime, the UAS operator will only need one FLD 1102 which may be movedbetween those UAS as needed.

The FLD 1102 includes a power source such as a battery 1110, power bus1112, FLC 1114, memory 1116, navigation means such as a GPS 1118, anactuator 1120, and a means for terminating the flight such as aparachute 1122. The FLC 1114 is powered by the battery 1110 andfunctions to receive the UAS location from the GPS 1118, compares it toa boundary saved in the memory 1116, and if it is determined that theUAS has passed the boundary to instruct the actuator 1120 to deploy theparachute 1122 to terminate the flight.

The parachute 1122 may eject out the back of the FLD 1102, such thatwhen deployed the parachute 1122 will be of a size and configuration toproduce, at the wing 1108, sufficient drag that the resultingasymmetrical force on the UAS will render it unable to continue to fly.The further out on the wing 1108 from the fuselage the FLD 1102 isdetachably attached, the greater lever arm is provided and the smaller,relatively, the parachute 1122 needs to be to create sufficient drag toterminate the flight. In some embodiments the same FLD 1102 may beemployed for air vehicles of different sizes, with either differentsized parachutes being used and/or varying placement along the wing,e.g. further out on the wing from the fuselage for larger air vehicles.In some embodiments, the parachute 1122 holder, with the actuator 1120,may disconnect from the rest of the FLD 1102, such that differentparachutes may be attached for different uses of the FLD 1102.

Instead of the parachute 1122, the FLD 1102 may employ any of a varietyof means to terminate the flight including, but not limited to, anexplosive charge, a wing separator, a reverse thrust generator, e.g. aseparate propeller 1124 and propulsion device, e.g., motor 1126, acommand to the UAS or ground station, or the like. In some embodiments,the FLD 1102 may include a power generator that uses the airflow pastthe FLD 1102 caused by the UAS flying, to provide power to the FLD 1102and/or to recharge the battery 1110. Also, the generator may becommanded by the FLC 1114 to provide reverse thrust to cause a flighttermination.

To improve reliability, in some embodiments the FLD 1102 may be set in afail-safe configuration. For example, the parachute 1122 may have adefault of being deployed unless the actuator 1120 is powered, e.g., byan electro magnet that holds the parachute 1120 in place only if it ispowered, such as by a spring pushing the parachute 1120 against thepowered electromagnet. That is, if power is lost the actuator 1120 willautomatically release the parachute 1122 and the flight of the UAS willimmediately terminate. Likewise, in some embodiments the FLC 1114 may beprogrammed to deploy the parachute 1122 in the event any internal erroroccurs, such as a prolonged loss of GPS link.

FIG. 12 depicts an exemplary functional block diagram of an embodimentfor effecting flight limitations if the UAS has crossed a flightboundary 1200. A processor may receive UAS information (step 1202). TheUAS information may include data from a GPS, IMU, altimeter, and/orsense and avoid system (See FIG. 3). The processor may also receive atleast one flight boundary (step 1204). The flight boundary may includeairspace from which it is prohibited, obstacles set by a UAS operator,and one or more dynamic boundaries created by the processor and/or UASoperator input to prevent UAS entry into the airspace from which it isprohibited, interference with manned aircraft, and/or collision withobstacles (See FIGS. 1 and 2A-2H). The flight boundary may be madesmaller by a UAS operator, but may not be enlarged. The processor maydetermine the UAS position relative to at least one flight boundary(step 1206). The processor may utilize the UAS information and flightboundaries to determine the UAS position. The processor may thendetermine if the UAS has crossed the at least one flight boundary (step1208). If the UAS has not crossed at least one flight boundary, then theprocessor continues to determine the UAS position relative to the flightboundaries. If the UAS has crossed at least one flight boundary, thenthe processor effects at least one flight limitation of the UAS (step1210). The flight limitations may include a warning signal and/or one ormore dynamic responses to ensure that the UAS does not enter airspacefrom which it is prohibited (See FIG. 3).

It is contemplated that various combinations and/or sub-combinations ofthe specific features and aspects of the above embodiments may be madeand still fall within the scope of the invention. Accordingly, it shouldbe understood that various features and aspects of the disclosedembodiments may be combined with or substituted for one another in orderto form varying modes of the disclosed invention. Further it is intendedthat the scope of the present invention is herein disclosed by way ofexamples and should not be limited by the particular disclosedembodiments described above.

What is claimed is:
 1. A method comprising: attaching a flight limitingdevice (FLD) to an unmanned aerial system (UAS), wherein the FLD isdetachably attached to the UAS, wherein the UAS has an operationalreliability of at least 1*10⁻⁷ of preventing the UAS from crossing atleast one flight boundary when the FLD is detachably attached to theUAS, and wherein the UAS has a lower operational reliability when theFLD is detached from the UAS; determining, by a processor of the FLDhaving addressable memory, a three-dimensional position of an unmannedaerial system (UAS) relative to the least one flight boundaryencompassing a prohibited flight area; and effecting, by the processorof the FLD, at least one flight limitation if the determinedthree-dimensional position of the UAS crosses the at least one flightboundary encompassing the prohibited flight area; determining, by theprocessor of the FLD, if the UAS has encountered an error; determining,by the processor of the FLD, if a trajectory of the UAS will cross atleast one flight boundary within a set time if the FLD determines theUAS has encountered the error; and effecting, by the processor of theFLD, at least one flight limitation if the UAS is determined to cross atleast one flight boundary within the set time, wherein the effectedflight limitation prevents the UAS from entering the prohibited flightarea wherein the FLD comprises at least one of: a FLD navigation devicein communication with the FLD processor for determining the UASposition, a FLD radio in communication with the FLD processor, at leastone FLD propulsion device in communication with the FLD processor, andat least one FLD power source providing power to at least one of: theFLD processor, a UAS navigation device, a UAS radio, and the at leastone FLD propulsion device; wherein the UAS comprises at least one of: aUAS processor with addressable memory, the UAS navigation device incommunication with the UAS processor, the UAS radio in communicationwith the UAS processor, at least one UAS propulsion device incommunication with the UAS processor, and at least one UAS power sourceproviding power to at least one of: the UAS processor, the UASnavigation device, the UAS radio, and the at least one UAS propulsiondevice.
 2. The method claim 1 wherein the FLD further comprises: the FLDnavigation device, the FLD radio, the at least one FLD propulsiondevice, and the at least one FLD power source providing power to atleast one of: the FLD processor, the UAS navigation device, the UASradio, and the at least one FLD propulsion device.
 3. The method ofclaim 2 wherein the UAS further comprises: the UAS processor withaddressable memory, the UAS navigation device, the UAS radio, the atleast one UAS propulsion device, and the at least one UAS power sourceproviding power to at least one of: the UAS processor, the UASnavigation device, the UAS radio, and the at least one UAS propulsiondevice.
 4. The method of claim 1 further comprising: determining, by theprocessor of the FLD, the UAS position relative to at least one userdefined flight boundary; and effecting, by the processor of the FLD, atleast one flight limitation of the UAS if the determined UAS positioncrosses the at least one user defined flight boundary; wherein the atleast one user defined flight boundary is smaller than the prohibitedflight area.
 5. The method of claim 1 further comprising: receiving aninput, by the processor of the FLD, from a sense and avoid system of atleast one object that could interfere with the UAS; generating, by theprocessor of the FLD, at least one flight boundary based on the receivedinput from the sense and avoid system; and effecting, by the processorof the FLD, at least one flight limitation of the UAS if the UASposition crosses the at least one generated flight boundary.
 6. Themethod of claim 5 wherein the sense and avoid system comprises at leastone of: a radar, a sonar, an optical sensor, and a LIDAR.
 7. The methodof claim 1 wherein the at least one flight boundary is updated by a userfrom a third-party database prior to a flight.
 8. The method of claim 1wherein the at least one flight boundary is updated during the flight ofthe UAS by at least one of: a sense and avoid system and a third-partydatabase.
 9. The method of claim 1 wherein the UAS position isdetermined via a global positioning system (GPS), an inertialmeasurement unit (IMU), and an altimeter.
 10. The method of claim 1wherein the error is at least one of: a battery failure, a sense andavoid system failure, a global positioning system (GPS) failure, and aconnection failure between the UAS and an operator.
 11. The method ofclaim 1 further comprising: determining, by the processor of the FLD,whether the determined three-dimensional position of the UAS has crosseda first flight boundary; and sending, by the processor of the FLD, awarning to a user when the first flight boundary is crossed by the UAS.12. The method of claim 1 wherein a flight limitation of the at leastone flight limitation comprises grounding the UAS.
 13. The method ofclaim 1 wherein the at least one flight limitation of the UAS comprisesat least one of: deploying a parachute; separating one or morecomponents of the UAS; an explosive charge; and reversing a throttle toone or more propulsion devices of the UAS.
 14. The method of claim 1wherein the at least one flight limitation of the UAS comprisesactuating an actuator to maintain the UAS in a circular flight pattern,wherein the circular flight pattern does not cross the at least oneflight boundary, and wherein the circular flight pattern maintains theUAS outside of the prohibited flight area.
 15. A system comprising: anunmanned aerial system (UAS) comprising at least one of: a UAS processorwith addressable memory, a UAS navigation device in communication withthe UAS processor, a UAS radio in communication with the UAS processor,at least one UAS propulsion device in communication with the UASprocessor, and at least one UAS power source providing power to at leastone of: the UAS processor, the UAS navigation device, the UAS radio, andthe at least one UAS propulsion device; and a flight limiting device(FLD) detachably attached to the UAS comprising: a FLD processor havingaddressable memory, the FLD processor configured to: determine athree-dimensional position of the UAS relative to at least one flightboundary encompassing a prohibited flight area; effect at least oneflight limitation of the UAS if the determined UAS position crosses theat least one flight boundary; determine if the UAS has encountered anerror; determine if a trajectory of the UAS will cross at least oneflight boundary within a set time if the FLD determines the UAS hasencountered the error; and effect at least one flight limitation if theUAS is determined to cross at least one flight boundary within the settime, wherein the effected flight limitation prevents the UAS fromentering the prohibited flight area; at least one of: a FLD navigationdevice in communication with the FLD processor for determining the UASposition, a FLD radio in communication with the FLD processor, at leastone FLD propulsion device in communication with the FLD processor, andat least one FLD power source providing power to at least one of: theFLD processor, the UAS navigation device, the UAS radio, and the atleast one FLD propulsion device; wherein the UAS has an operationalreliability of at least 1*10⁻⁷ of preventing the UAS from crossing atleast one flight boundary when the FLD is detachably attached to theUAS, and wherein the UAS has a lower operational reliability when theFLD is detached from the UAS.
 16. The system of claim 15 wherein the UASfurther comprises: the UAS processor; the UAS navigation device; the UASradio; and the at least one UAS propulsion device; and the UAS powersource; wherein the FLD is in communication with the UAS controller toeffect the at least one flight limitation.
 17. The system of claim 16wherein the UAS navigation device further comprises a global positioningsystem (GPS), an inertial measurement unit (IMU), and an altimeter. 18.The system of claim 16 wherein the UAS radio comprises a transceiver.19. The system of claim 16 further comprising: at least one controlsurface of the UAS; and at least one actuator attached to the at leastone control surface; wherein at least one flight limitation of the UASis an actuation of the at least one actuator to maintain the UAS in acircular flight pattern that prevents the UAS from entering theprohibited flight area.
 20. The system of claim 16 wherein the processorof the FLD is configured to receive an input from at least one of: theUAS power source, the UAS controller, the UAS navigation device, the UASradio, and the at least one UAS propulsion device.
 21. The system ofclaim 16 further comprising: a UAS operator controller comprising: a UASoperator controller processor having addressable memory, the UAScontroller processor configured to: receive a status of the UAS, whereinthe status includes data on at least one of: the UAS power source, theUAS controller, the UAS navigation device, the UAS radio, and the atleast one UAS propulsion device; and receive a warning if the determinedUAS position crosses the at least one flight boundary.
 22. The system ofclaim 15 wherein the FLD further comprises: the FLD navigation device;the FLD radio; and the FLD power source.
 23. The system of claim 15wherein the at least one flight limitation of the UAS comprises at leastone of: deploy a parachute; separate one or more components of the UAS;an explosive charge; and reverse power to one or more propulsion devicesof the UAS.
 24. The system of claim 15 wherein the at least one flightlimitation of the UAS comprises an actuation of an actuator to maintainthe UAS in a circular flight pattern, wherein the circular flightpattern does not cross the at least one flight boundary, and wherein thecircular flight pattern maintains the UAS outside of the prohibitedflight area.
 25. A method comprising: attaching a flight limiting device(FLD) to a first unmanned aerial system (UAS) having a processor andaddressable memory, wherein the FLD is detachably attached to the firstUAS, and wherein the first UAS has an operational reliability of atleast 1*10⁻⁷ of preventing the first UAS from crossing at least oneflight boundary when the FLD is detachably attached to the first UAS;detaching the FLD from the first UAS, wherein the first UAS has a loweroperational reliability when the FLD is detached from the first UAS;attaching the FLD to a second UAS having a processor and addressablememory, wherein the FLD is detachably attached to the second UAS,wherein the second UAS has an operational reliability of at least 1*10⁻⁷of preventing the second UAS from crossing the at least one flightboundary when the FLD is detachably attached to the second UAS, andwherein the second UAS has a lower operational reliability when the FLDis detached from the second UAS; determining, by a processor of the FLDhaving an addressable memory, a three-dimensional position of the FLDrelative to the least one flight boundary encompassing a prohibitedflight area; effecting, by the processor of the FLD, at least one flightlimitation if the determined three-dimensional position of the FLDcrosses the at least one flight boundary encompassing the prohibitedflight area; determining, by the processor of the FLD, if the second UAShas encountered an error; determining, by the processor of the FLD, if atrajectory of the second UAS will cross at least one flight boundarywithin a set time if the FLD determines the second UAS has encounteredthe error; and effecting, by the processor of the FLD, at least oneflight limitation if the second UAS is determined to cross at least oneflight boundary within the set time, wherein the effected flightlimitation prevents the second UAS from entering the prohibited flightarea.